Collaborative accident prevention

ABSTRACT

In an approach to collaborative accident prevention, that a first vehicle is approaching an intersection is detected. A first vehicle information vector is broadcast from the first vehicle, where the first vehicle information vector contains at least a first vehicle speed, a first vehicle position, and a first vehicle direction. Responsive to receiving a second vehicle information vector from a second vehicle, an optimal order to cross the intersection is calculated based on the first vehicle information vector and the second vehicle information vector. A first adjusted vehicle speed is signaled to the first vehicle and a second adjusted vehicle speed is signaled to the second vehicle based on the optimal order to cross the intersection.

BACKGROUND

The present invention relates generally to the field of traffic controlsystems for road vehicles, and more particularly to collaborativeaccident prevention.

A traffic accident is classified as any accident involving motorvehicles, which results in an event that is considered to be in contrastof expected, intended, or routine operation. A traffic collision, alsocalled a motor vehicle collision, car accident, or car crash, occurswhen a vehicle collides with another vehicle, pedestrian, animal, roaddebris, or other stationary obstruction, such as a tree, utility or signpole, or building.

An intersection consists of two or more roadways that intersect at thesame level. The three basic types of intersections are the three-leg orT-intersection (with variations in the angle of approach), the four-legintersection, and the multi-leg intersection. Each intersection can varygreatly in scope, shape, use of channelization and other types oftraffic control devices.

SUMMARY

Embodiments of the present invention disclose a method, a computerprogram product, and a system for collaborative accident prevention. Inone embodiment, that a first vehicle is approaching an intersection isdetected. A first vehicle information vector is broadcast from the firstvehicle, where the first vehicle information vector contains at least afirst vehicle speed, a first vehicle position, and a first vehicledirection. Responsive to receiving a second vehicle information vectorfrom a second vehicle, an optimal order to cross the intersection iscalculated based on the first vehicle information vector and the secondvehicle information vector. A first adjusted vehicle speed is signaledto the first vehicle and a second adjusted vehicle speed is signaled tothe second vehicle based on the optimal order to cross the intersection.

In one embodiment, that a first vehicle is approaching an intersectionis detected. A first vehicle information vector is broadcast from thefirst vehicle, where the first vehicle information vector contains atleast a first vehicle speed, a first vehicle position, and a firstvehicle direction. Responsive to receiving a second vehicle informationvector from a second vehicle, whether the first vehicle direction equalsthe second vehicle direction is determined. Responsive to determiningthat the first vehicle direction equals the second vehicle direction,whether the distance between the first vehicle and the second vehicle isless than a threshold is determined. Responsive to determining that thedistance between the first vehicle and the second vehicle is less thanthe threshold, the first vehicle and the second vehicle are added to aconvoy. The first convoy vehicle is determined, where the first convoyvehicle is the front vehicle of the plurality of convoy vehicles. Aconvoy information vector is broadcast.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional block diagram illustrating a distributed dataprocessing environment, in accordance with an embodiment of the presentinvention.

FIG. 2 is an example scenario for the avoidance program when twovehicles approach an intersection from different directions, inaccordance with an embodiment of the present invention.

FIG. 3 is an example scenario for the avoidance program when a convoy ofvehicles approaches an intersection at the same time as a vehicleapproaches the same intersection from a different direction, inaccordance with an embodiment of the present invention.

FIGS. 4 a and 4 b are a flowchart depicting operational steps for thecrossing management function of avoidance program 112 on a computingdevice in a vehicle approaching an intersection, within the distributeddata processing environment of FIG. 1 , for collaborative accidentprevention, in accordance with an embodiment of the present invention.

FIG. 5 is a flowchart depicting operational steps of the avoidanceprogram on a computing device in a vehicle when three or more vehiclesare approaching an intersection, within the distributed data processingenvironment of FIG. 1 , for collaborative accident prevention, inaccordance with an embodiment of the present invention.

FIGS. 6 a, 6 b, and 6 c are a flowchart depicting operational steps ofthe avoidance program on a computing device in a vehicle when a convoyof vehicles are approaching an intersection, within the distributed dataprocessing environment of FIG. 1 , for collaborative accidentprevention, in accordance with an embodiment of the present invention.

FIG. 7 depicts a block diagram of components of the computing devicesexecuting the avoidance program within the distributed data processingenvironment of FIG. 1 , in accordance with an embodiment of the presentinvention

DETAILED DESCRIPTION

Vehicle accidents occur for many reasons, and nearly half of allaccidents occur at intersections. Accidents often occur at intersectionsbecause these are the locations where two or more roads cross each otherand activities such as turning left, crossing over, and turning righthave the potential for conflicts resulting in accidents. Even thoughintersections constitute only a small proportion of the entire roadwaysystem, a significantly large proportion of accidents occur atintersections. According to government statistics there areapproximately 2.5 million intersection accidents annually in the UnitedStates. By some accounts, over forty percent of all traffic accidents,fifty percent of serious accidents, and over 20 percent of fatalaccidents involve intersections. With nearly a quarter of traffic deathsand approximately half of traffic injuries occurring at intersection, abig part of tackling road safety challenges involves intersections. Manystrategies include geometric design and traffic control devices such assignals, signs, and markings. A combination of these differentstrategies is required to solve the issue.

One of the leading causes of traffic accidents at intersections is amisjudgment of the gap or of the speed of the other vehicle. Atintersections with no traffic control devices, this is a leading causeof traffic accidents. Driver recognition error (i.e., inattention,internal and external distractions, etc.) and driver decision error(i.e., false assumption of actions by another driver, misjudgment of gapor speed of another vehicle) account for the vast majority of trafficaccidents at intersections.

In addition to traffic accidents, intersections can lead toinefficiencies that result in wasted time and energy when a vehiclewaits at a controlled intersection while no other vehicles are present.Existing intersection management solutions are not optimal. For example,a crossroad may remain empty while vehicles are stacking up on a redsignal in one direction while there are no vehicles crossing theintersection in the direction having the green signal. Even with trafficlights equipped with vehicle presence detection systems, vehicles wouldtypically need to stop and wait for the signal to cycle over to green.With stop signs, vehicles need to stop even if there is no other vehicleapproaching the intersection to yield to. In addition, risks do remainat controlled intersections. A green traffic light does not give fullguarantee; for example, an emergency vehicle would have the right ofway, and an inattentive driver might not notice the approachingemergency vehicle, potentially leading to a traffic accident, as well asdelaying the response of the emergency vehicle to the emergency.Likewise, stop signs leave room for human interpretation, hence forhuman errors.

The present invention allows vehicles arriving near a crossroads toexchange information (static and dynamic) to determine any necessaryspeed variations and to choose the order in which the vehicles cross theintersection to avoid a collision. The present invention bases thisdetermination on multi-criteria optimization. The criteria identifiedmay include, for example, the vehicle priority (e.g., emergency vehiclescome before private cars); the energy consumption (i.e., the totalenergy of all the vehicles crossing the intersection must be minimized);the carbon footprint (the total carbon footprint of all the vehiclescrossing the intersection must be minimized); and temporal constraintsor the traffic flow aspect (i.e., the crossing must be cleared asquickly as possible). In various embodiments of the invention, othercriteria may be elected, and new criteria may become attractive orpossible as technology and society priorities evolve.

The advantages provided by the present invention address differenttraffic attributes. The first attribute is safety; the system determinesunambiguous crossing information. Another attribute is priority; in someembodiments the present invention introduces a priority scale, with, forexample, emergency vehicles (e.g. ambulance, firefighters, police) atthe very top. In some embodiments, priority is governed by fairness; forexample, the base rule may be first in, first out, which is adjusted forspecific criteria, such as energy saving or non-polluting vehicles maybe encouraged by giving such vehicles a higher priority than ordinaryvehicles. In another embodiment, the criteria is the transit time aimedat streamlining the traffic. Another attribute is traffic fluidity,which adds multiple benefits to the primary objective of better safety,which include less pollution, travel time gains, and calmer drivers.

It should be noted that the term “crossroads” as used in thisspecification is used in a generic way, addressing all the differenttypes of road intersections, such as X-shaped, Y-shaped, multi-way, etc.

As referred to herein, all data retrieved, collected, and used, is usedin an opt in manner, i.e., the data provider has given permission forthe data to be used. For example, the installation procedure for acomputing device, such as a smart phone, that would be used to collectdata could include an option that must be selected by the owner to allowuse of the data. As another example, the avoidance program could requestapproval from the owner of the device before collecting the data. Anydata or information used for which the provider has not opted in is datathat is publicly available

FIG. 1 is a functional block diagram illustrating a distributed dataprocessing environment, generally designated 100, suitable for operationof avoidance program 112 in accordance with at least one embodiment ofthe present invention. The term “distributed” as used herein describes acomputer system that includes multiple, physically distinct devices thatoperate together as a single computer system. FIG. 1 provides only anillustration of one implementation and does not imply any limitationswith regard to the environments in which different embodiments may beimplemented. Many modifications to the depicted environment may be madeby those skilled in the art without departing from the scope of theinvention as recited by the claims.

Distributed data processing environment 100 includes computing devices110, 120, 130, 140, and 150, all connected to network 160. In someembodiments, network 160 is a peer-to-peer network. Network 160 may be,for example, Bluetooth, ZigBee, infrared transmission, or dedicatedshort-range communication (DSRC). In another embodiment, computingdevices 110, 120, 130, 140, and 150 may communicate with each otherusing any peer-to-peer network as would be known to a person havingskill in the art.

In some embodiments, network 160 is a network that allows communicationbetween any number of computing devices, and will allow access by any ofthe devices or programs running on the devices to any required networksuch as an ad-hoc or peer-to-peer network as described above,infrastructure-based network, or the internet. Network 160 can be, forexample, a dedicated communications network, a cellular network, or awireless Ethernet network. In an embodiment, network 160 can include oneor more wireless networks that are capable of receiving and transmittingdata, voice, and/or video signals, including multimedia signals thatinclude voice, data, and video information. In general, network 160 canbe any combination of connections and protocols that will supportcommunications between computing devices 110, 120, 130, 140, and 150 andother computing devices (not shown) within distributed data processingenvironment 100.

Computing devices 110, 120, 130, 140, and 150 can each be a standalonecomputing device, a mobile computing device, or any other electronicdevice or computing system capable of receiving, sending, and processingdata from within a vehicle. In an embodiment, computing devices 110,120, 130, 140, and 150 can each be a laptop computer, a tablet computer,a netbook computer, a smart phone, a computing device integrated into avehicle, or any programmable electronic device capable of communicatingwith other computing devices (not shown) within distributed dataprocessing environment 100.

In an embodiment, computing devices 110, 120, 130, 140, and 150 eachincludes avoidance program 112, 122, 132, 142, and 152, respectively. Inan embodiment, avoidance program 112, 122, 132, 142, and 152 is aprogram, application, or subprogram of a larger program forcollaborative accident prevention. Reference may be made to avoidanceprogram 112 and all references apply to avoidance program 122, 132, 142,and 152 as well.

In an embodiment, computing devices 110, 120, 130, 140, and 150 includeinformation repository 114, 124, 134, 144, and 154, respectively. In anembodiment, information repository 114, 124, 134, 144, and 154 may bemanaged by avoidance program 112. In an alternate embodiment,information repository 114, 124, 134, 144, and 154 may be managed by theoperating system of the device, alone, or together with, avoidanceprogram 112. Information repository 114, 124, 134, 144, and 154 are datarepositories that can store, gather, compare, and/or combineinformation. In some embodiments, information repository 114, 124, 134,144, and 154 are located externally to computing devices 110, 120, 130,140, and 150, respectively, and accessed through a communicationnetwork, such as network 160. In some embodiments, informationrepository 114, 124, 134, 144, and 154 are stored on computing devices110, 120, 130, 140, and 150, respectively. In some embodiments,information repository 114, 124, 134, 144, and 154 may reside on anothercomputing device (not shown), provided that information repository 114,124, 134, 144, and 154 are accessible by computing devices 110, 120,130, 140, and 150, respectively. Information repository 114, 124, 134,144, and 154 include, but are not limited to, position data, map data,vehicle data, route data, intersection data, time data, priority data inform of position of a vehicle on a priority scale, energy consumptiondata, carbon footprint data, vehicle dynamic data, user data, systemconfiguration data, and other data that is received by avoidance program112 from one or more sources, and data that is created by avoidanceprogram 112.

Information repository 114, 124, 134, 144, and 154 may each beimplemented using any volatile or non-volatile storage media for storinginformation, as known in the art. For example, information repository114, 124, 134, 144, and 154 may each be implemented with a tape library,optical library, one or more independent hard disk drives, multiple harddisk drives in a redundant array of independent disks (RAID),solid-state drives (SSD), or random-access memory (RAM). Similarly, theinformation repository 114, 124, 134, 144, and 154 may each beimplemented with any suitable storage architecture known in the art,such as a relational database, an object-oriented database, or one ormore tables.

FIG. 2 is an illustration of one example scenario for avoidance program112, of one possible embodiment of the present invention. In thisexample, two vehicles approach an intersection from differentdirections. In this example, road 230 and road 232 cross at intersection200. Vehicle 210 approaches intersection 200 on road 230. Vehicle 220approaches intersection 200 on road 232. In one embodiment, if bothvehicles are normal vehicles and the current speeds of vehicle 210 andvehicle 220 project that vehicle 210 would arrive at the intersectiononly slightly before vehicle 220, leaving insufficient safety margin,then vehicle 220 would slow down to allow vehicle 210 to safely passthrough the intersection before vehicle 220, (this example uses thefirst in, first out method to determine the order the vehicles shouldenter intersection 200). In some embodiments, however, if vehicle 220 isan emergency vehicle, avoidance program 112 will instruct vehicle 210 toslow down to allow emergency vehicle 220 to pass first. In anotherembodiment, if vehicle 210 is a normal vehicle, and vehicle 220 is agreen vehicle (lower emissions, alternative fuel, etc.), then vehicle220 is allowed to pass through the intersection before vehicle 210, andvehicle 210 will be instructed to change its speed to allow vehicle 220to cross first. The scenario illustrated in FIG. 2 is described in FIGS.4 a and 4 b below.

FIG. 3 is an illustration of one example scenario for avoidance program112, of one possible embodiment of the present invention. This exampleillustrates a scenario for avoidance program 112 when a convoy ofvehicles approaches an intersection at the same time as a vehicleapproaches the same intersection from a different direction.

In this example, road 330 and road 332 cross at intersection 300.Vehicle 310 approaches intersection 300 on road 330. Vehicles 320, 322,and 324 approach intersection 300 on road 332. In an embodiment, ifvehicles 320, 322, and 324 are not already part of a convoy, thenavoidance program 112 will build a convoy of vehicles 320, 322, and 324if the vehicles meet the appropriate criteria, as explained in FIGS. 6a, 6 b, and 6 c below. In another embodiment, if vehicles 320 and 322,for example, are already part of a convoy, then avoidance program addvehicle 324 to the convoy, if the vehicles meet the appropriatecriteria, as explained in FIGS. 6 a, 6 b, and 6 c below.

Once avoidance program 112 has completed assembling the convoy, thenavoidance program 112 uses the same procedure in FIGS. 4 a and 4 b asfor the two car scenario of FIG. 2 , but using the first vehicle in theconvoy, e.g., vehicle 320, for the analysis with the vehicle approachingthe intersection from another direction, e.g., vehicle 310.

FIGS. 4 a and 4 b are a flow chart diagram of workflow 400 depictingoperational steps for the crossing management function of avoidanceprogram 112, 122, 132, 142, and 152 for collaborative accidentprevention. In various embodiments, workflow 400 may be executed inaddition to either workflow 500, when more than two vehicles approachthe same intersection, or workflow 600, when a convoy of vehiclesapproaches an intersection when another vehicle is approaching the sameintersection from a different direction.

In an alternative embodiment, the steps of workflow 400 may be performedby any other program while working with avoidance program 112, 122, 132,142, and 152. It should be appreciated that the process depicted inFIGS. 4 a and 4 b illustrates one possible iteration of avoidanceprogram 112, 122, 132, 142, and 152, which repeats each time the vehiclecontaining the computing device running avoidance program 112, 122, 132,142, or 152 approaches an intersection.

It should be noted that workflow 400 is written from the perspective ofavoidance program 112 running on computing device 110 in a vehicle V1,e.g., vehicle 210 from FIG. 2 , but the same program is running asavoidance program 122 on computing device 120 in a vehicle V2, e.g.,vehicle 220 from FIG. 2 . The identical algorithm is performed by eachcopy of the avoidance program running on the computing device in eachvehicle. In an embodiment, each copy of the avoidance program comparesthe results it calculated to the results received from the copy of theavoidance program running on the computing device in the other vehicle,and only proceeds if the results are identical. In an embodiment, if theresults are not identical, then the avoidance program in each vehiclenotifies the driver to manually determine which vehicle should proceedfirst.

In an embodiment, avoidance program 112 running on computing device 110in vehicle V1 detects that vehicle V1 (e.g., vehicle 210 from FIG. 2 )is approaching an intersection. In an embodiment, avoidance program 112running on computing device 110 in vehicle V1 receives a VehicleInformation Vector (VIV) VIV2 from avoidance program 122 running oncomputing device 120 in vehicle V2. In an embodiment, avoidance program112 running on computing device 110 in vehicle V1 determines if there isa possibility of a collision based on the information in both VIV1 andVIV2. In an embodiment, if avoidance program 112 determines that thereis a possibility of a collision, then avoidance program 112 determinesif the two vehicles have the same priority. In an embodiment, ifavoidance program 112 determines that the two vehicles do have the samepriority, then avoidance program 112 calculates the new speed for V1that will avoid any possibility of collision, including the safetyfactor, if V2 does not change speed. In an embodiment, avoidance program112 calculates the combined cost factors for V1 and V2 at the new V1speed, keeping V2 at the current V2 speed, for the case of V2 proceedingthrough the intersection first. In an embodiment, avoidance program 112calculates the new speed for V2 that will avoid any possibility ofcollision, including the safety factor. In an embodiment, avoidanceprogram 112 calculates the combined cost factors for V1 and V2 at thenew V2 speed, keeping V1 at the current V1 speed, for the case of V1proceeding through the intersection first. In an embodiment, avoidanceprogram 112 compares the total cost of all the factors determined instep 412 for V1 and V2 if V1 changes speed and V2 maintains its speed(the V2 first case) to the total cost of all the factors determined insteps 416 for V1 and V2 if V2 changes speed and V1 maintains its speed(the V1 first case). In an embodiment, if avoidance program 112determines that the cost of the V1 first case is not less than or equalto the cost of the V2 first case, then avoidance program 112 determinesthat V1 should change speed to allow V2 to pass through the intersectionfirst. In an embodiment, if avoidance program 112 determines that thecost of the V1 first case is less than or equal to the cost of the V2first case, then avoidance program 112 determines that V2 should changespeed to allow V1 to pass through the intersection first. In anembodiment, avoidance program 112 sends the NewVIV1 and NewVIV2 toavoidance program 122 in computing device 120 in V2 to notify V2 of thedetermination of which vehicle should proceed through the intersectionfirst, and what speed each vehicle must maintain to avoid a collision atthe intersection. In an embodiment, if avoidance program 112 determinesthat the two vehicles do not have the same priority, then avoidanceprogram 112 determines if V1 has a higher priority than V2. In anembodiment, if avoidance program 112 determines that V1 has a higherpriority than V2, then avoidance program 112 calculates a new speed forV2 that will avoid any possibility of collision, including the safetyfactor. In an embodiment, if avoidance program 112 determines that V1does not have a higher priority than V2, then avoidance program 112calculates a new speed for V1 that will avoid any possibility ofcollision, including the safety factor. In an embodiment, avoidanceprogram 112 sends the NewVIV1 and a NewVIV2 to avoidance program 122 oncomputing device 120 in V2 to notify V2 of the determination of whichvehicle should proceed through the intersection first, and the speedeach vehicle must maintain to avoid a collision at the intersection.Avoidance program 112 then ends for this cycle.

It should be appreciated that embodiments of the present inventionprovide at least for collaborative accident prevention. However, FIGS. 4a and 4 b provide only an illustration of one implementation and doesnot imply any limitations with regard to the environments in whichdifferent embodiments may be implemented. Many modifications to thedepicted environment may be made by those skilled in the art withoutdeparting from the scope of the invention as recited by the claims.

Avoidance program 112 determines if the vehicle is approaching anintersection (decision block 402). In an embodiment, avoidance program112 running on computing device 110 in vehicle V1 detects that vehicleV1 (e.g., vehicle 210 from FIG. 2 ) is approaching an intersection. Inan embodiment, a global positioning system or navigation systemincorporated into computing device 110 provides the coordinates of thevehicle. In another embodiment, a global positioning system ornavigation system incorporated into the vehicle, or incorporated intoanother computing device present in the vehicle, such as a smart phoneor tablet computer, provides the coordinates of the vehicle. In anembodiment, when avoidance program 112 in vehicle V1 detects that it isapproaching an intersection, avoidance program 112 broadcasts VIV1. Inan embodiment, avoidance program 112 broadcasts VIV1 to notify avoidanceprogram 122 running on computing device 120 in vehicle V2 (e.g., vehicle220 from FIG. 2 ) that vehicle V1 is approaching the intersection.

In various embodiments, the VIV may include data characterizing thevehicle such as a unique vehicle identifier Vid (which identifies theinstance of avoidance program 112; no personal information is included),a vehicle priority P (e.g., highest priority is for emergency vehicles),and weighting coefficients of the selection criteria including energyconsumption WE, carbon dioxide emission WCO2, and time as a measure offluidity WT, i.e., the urgency of arriving at a destination by a certaintime. In an embodiment, this data is identical for all vehicles bydefault, and must be changed in order for any of these factors to affectthe decision. In some embodiments the VIV may include a vehicle crossingtime interval, i.e., how long the vehicle will take to cross theintersection at the current speed.

Avoidance program 112 receives VIV2 from V2 (step 404). In anembodiment, avoidance program 112 running on computing device 110 invehicle V1 receives VIV2 from avoidance program 122 running on computingdevice 120 in vehicle V2.

Avoidance program 112 determines if there is a possible collision(decision block 406). In an embodiment, avoidance program 112 running oncomputing device 110 in vehicle V1 determines if there is a possibilityof a collision based on the information in both VIV1 and VIV2. Avoidanceprogram 112 calculates the time that each vehicle will enter theintersection based on the speed, distance, and direction informationreceived in each VIV, and will add a safety factor to the projected timeof arrival, to determine if the second vehicle to reach the intersectionwill reach the intersection after the projected exit time of the firstvehicle to reach the intersection, plus the safety factor. If the secondvehicle will reach the intersection before the first vehicle has clearedthe intersection, plus the safety factor, then avoidance program 112determines that a collision is possible. If avoidance program 112determines that there is no possibility of a collision, then avoidanceprogram 112 ends for this cycle.

Avoidance program 112 determines if the priority of V1=V2 (decisionblock 408). In an embodiment, if avoidance program 112 determines thatthere is a possibility of a collision (“yes” branch, decision block406), then avoidance program 112 determines if the two vehicles have thesame priority. In an embodiment, emergency vehicles have priority overnon-emergency vehicles. In another embodiment, more efficient or“greener” vehicles have priority over regular or “non-green” vehicles.In other embodiments, any other type of vehicle may be assigned apriority, for example, mass transit vehicles have priority over regularvehicles, etc. In an embodiment, the priority hierarchy is a systemdefault.

In an embodiment, if avoidance program 112 determines that the twovehicles do not have the same priority (“no” branch, decision block408), then avoidance program 112 proceeds to decision block 426 todetermine which vehicle has higher priority.

Avoidance program 112 calculates a new V1 speed to avoid the collision(step 410). In an embodiment, if avoidance program 112 determines thatthe two vehicles do have the same priority (“yes” branch, decision block408), then avoidance program 112 calculates the new speed for V1 thatwill avoid any possibility of collision, including the safety factor, ifV2 does not change speed. In an embodiment, avoidance program 112 usesthis calculated speed in step 412 below to calculate a combined costfactor for both V1 and V2 if V1 changes speed.

Avoidance program 112 calculates the combined cost of energyconsumption, carbon footprint, and traffic flow for the new V1 speed(step 412). In an embodiment, avoidance program 112 calculates thecombined cost factors for V1 and V2 at the new V1 speed, keeping V2 atthe current V2 speed, for the case of V2 proceeding through theintersection first. In various embodiments, the combined cost factorincludes energy consumption (per mile, or per unit of time), the carbonfootprint of each vehicle, and the overall traffic flow through theintersection. For example, with all else being equal between V1 and V2,if V2 would reach the intersection first, but by slowing V1 the overalltraffic flow through the intersection would be impeded (e.g., V1 is thefirst vehicle in a convoy, and the entire convoy would have to slow toallow V2 to proceed first), then the cost factor for V1 will be higher.

Avoidance program 112 calculates a new V2 speed to avoid the collision(step 414). In an embodiment, avoidance program 112 calculates the newspeed for V2 that will avoid any possibility of collision, including thesafety factor. In an embodiment, avoidance program 112 uses thiscalculated speed in step 416 below to calculate a combined cost factorfor both V1 and V2 if V2 changes speed.

Avoidance program 112 calculates the combined cost of energyconsumption, carbon footprint, and traffic flow for the new V2 speed(step 416). In an embodiment, avoidance program 112 calculates thecombined cost factors for V1 and V2 at the new V2 speed, keeping V1 atthe current V1 speed, for the case of V1 proceeding through theintersection first. In various embodiments, the combined cost factorincludes energy consumption (per mile, or per unit of time), the carbonfootprint of each vehicle, and the overall traffic flow through theintersection. For example, with all else being equal between V2 and V1,if V1 would reach the intersection first, but by slowing V2 the overalltraffic flow through the intersection would be impeded (e.g., V2 is thefirst vehicle in a convoy, and the entire convoy would have to slow toallow V1 to proceed first), then the cost factor for V2 will be higher.

Avoidance program 112 determines if the V1 first cost<=V2 first cost(decision block 418). In an embodiment, avoidance program 112 comparesthe total cost of all the factors determined in step 412 for V1 and V2if V1 changes speed and V2 maintains its speed (the V2 first case) tothe total cost of all the factors determined in steps 416 for V1 and V2if V2 changes speed and V1 maintains its speed (the V1 first case). Inan embodiment, if avoidance program 112 determines that the cost of theV1 first case is less than or equal to the cost of V2 first case (“yes”branch, decision block 418), then avoidance program 112 proceeds to step422.

Avoidance program 112 determines that V1 is to change speed (step 420).In an embodiment, if avoidance program 112 determines that the cost ofthe V1 first case is not less than or equal to the cost of the V2 firstcase (“no” branch, decision block 418), then avoidance program 112determines that V1 should change speed to allow V2 to pass through theintersection first. In an embodiment, avoidance program 112 builds aNewVIV1 reflecting the V1 speed change and a NewVIV2 equal to theoriginal VIV2. In an embodiment, avoidance program 112 notifies thedriver of V1 that V1 is to change speed. In an embodiment, avoidanceprogram 112 notifies the driver of V1 to change speed by displaying amessage on computing device 110 in V1. In another embodiment, avoidanceprogram 112 notifies the driver of V1 to change speed by displaying amessage on the dashboard of V1. Avoidance program 112 then proceeds tostep 424.

Avoidance program 112 determines that V2 to change speed (step 422). Inan embodiment, avoidance program 112 determines that V2 should changespeed to allow V1 to pass through the intersection first. In anembodiment, avoidance program 112 builds a NewVIV1 equal to the originalVIV1 and a NewVIV2 reflecting the V2 speed change.

Avoidance program 112 sends a notification to V2 (step 424). In anembodiment, avoidance program 112 sends the NewVIV1 and NewVIV2 toavoidance program 122 in computing device 120 in V2 to notify V2 of thedetermination of which vehicle should proceed through the intersectionfirst, and what speed each vehicle must maintain to avoid a collision atthe intersection. In an embodiment, the NewVIV1 and NewVIV2 are based onthe data from the original VIV1 and VIV2 and the new speed calculated instep 412 or step 416. In an embodiment, avoidance program 112 oncomputing device 110 in V1 compares the values of NewVIV1 and NewVIV2received from avoidance program 122 on computing device 120 in V2 toensure both programs calculated the same results for added safety.Avoidance program 112 then ends for this cycle.

Avoidance program 112 determines if the priority of V1>V2 (decisionblock 426). In an embodiment, if avoidance program 112 determines thatthe two vehicles do not have the same priority (“no” branch, decisionblock 408), then avoidance program 112 determines if V1 has a higherpriority than V2. In an embodiment, avoidance program 112 will use thepriority scheme established in decision block 408. In an embodiment,avoidance program 112 will compare the priority value from its VIV1 tothe priority value of VIV2 from V2 to determine which vehicle has thehigher priority. In an embodiment, if avoidance program 112 determinesthat V1 does not have a higher priority than V2 (“no” branch, decisionblock 426), then avoidance program 112 proceeds to step 430.

Avoidance program 112 calculates a new V2 speed to avoid a collision(step 428). In an embodiment, if avoidance program 112 determines thatV1 has a higher priority than V2 (“yes” branch, decision block 426),then avoidance program 112 calculates a new speed for V2 that will avoidany possibility of collision, including the safety factor. In anembodiment, avoidance program 112 creates a new VIV, NewVIV2, based onthe data from the original VIV2 and the new V2 speed calculated in thisstep, as well as a NewVIV1 equal to VIV1. Avoidance program 112 thenproceeds to step 432.

Avoidance program 112 calculates a new V1 speed to avoid a collision(step 430). In an embodiment, if avoidance program 112 determines thatV1 does not have a higher priority than V2 (“no” branch, decision block426), then avoidance program 112 calculates a new speed for V1 that willavoid any possibility of collision, including the safety factor. In anembodiment, avoidance program 112 creates a new VIV, NewVIV1 based onthe data from the original VIV1 and the new V1 speed calculated in thisstep, as well as a NewVIV2 equal to VIV2.

Avoidance program 112 sends a notification to V2 (step 432). In anembodiment, avoidance program 112 sends the NewVIV1 and a NewVIV2 toavoidance program 122 on computing device 120 in V2 to notify V2 of thedetermination of which vehicle should proceed through the intersectionfirst, and the speed each vehicle must maintain to avoid a collision atthe intersection. Avoidance program 112 then ends for this cycle.

FIG. 5 is a flow chart diagram of workflow 500 depicting operationalsteps for avoidance program 112, 122, 132, 142, and 152 forcollaborative accident prevention, when more than two vehicles approachthe same intersection. In an embodiment, after workflow 500 determinesthe order of the vehicles, workflow 400 will then determine the speedchanges for the vehicles.

In an alternative embodiment, the steps of workflow 500 may be performedby any other program while working with avoidance program 112, 122, 132,142, or 152. It should be appreciated that the process depicted in FIG.5 illustrates one possible iteration of avoidance program 112, 122, 132,142, and 152, which repeats each time the vehicle containing thecomputing device running avoidance program 112, 122, 132, 142, or 152approaches an intersection when three or more vehicles are approachingthe same intersection. It should be noted that the process belowdescribes the procedure for three vehicles, but the process is iterativeand is repeated for any number of vehicles approaching the sameintersection. The method depicted in FIG. 5 involves iterativedecomposition of the set of three or more vehicles into pairs that canbe ordered using the process described with FIGS. 4 a and 4 b.

It should be noted that workflow 500 is written from the perspective ofavoidance program 112 running on computing device 110 in a vehicle V1,but the same program is running as avoidance program 122 on computingdevice 120 in a vehicle V2, avoidance program 132 on computing device130 in a vehicle V3, avoidance program 142 on computing device 140 in avehicle V4, avoidance program 152 on computing device 150 in a vehicleV5, or as many vehicles as are approaching the intersection. Theidentical algorithm is performed by each copy of the avoidance programrunning on the computing device in each vehicle. In an embodiment, eachcopy of the avoidance program compares the results it calculated to theresults received from the copy of the avoidance program running on thecomputing devices in the other vehicles, and only proceeds if theresults are identical. In an embodiment, if the results are notidentical, then the avoidance program in each vehicle notifies thedriver to manually determine which vehicle should proceed first.

In an embodiment, avoidance program 112 determines which vehicle, V1 orV2, will reach the intersection first. In an embodiment, if avoidanceprogram 112 determines that V1 will reach the intersection first, thenavoidance program 112 determines which vehicle, V2 or V3, will reach theintersection next. In an embodiment, if avoidance program 112 determinesthat V2 will reach the intersection before V3, then avoidance program112 sets the sequence for the vehicles to V1, then V2, and finally V3.In an embodiment, if avoidance program 112 determines that V2 will notreach the intersection first, then avoidance program 112 determineswhich vehicle, V1 or V3, will reach the intersection first. In anembodiment, if avoidance program 112 determines that V1 will not reachthe intersection before V3, then avoidance program 112 sets the sequencefor the vehicles to V3, then V1, and finally V2. In an embodiment, ifavoidance program 112 determines that V1 will reach the intersectionbefore V3, then avoidance program 112 sets the sequence for the vehiclesto V1, then V3, and finally V2. In an embodiment, if avoidance program112 determines that V1 will not reach the intersection before V2 (“no”branch, decision block 504), then avoidance program 112 determineswhether V1 or V3 will reach the intersection first. In an embodiment, ifavoidance program 112 determines that V1 will reach the intersectionbefore V3, then avoidance program 112 sets the sequence for the vehiclesto V2, then V1, and finally V3. In an embodiment, if avoidance program112 determines that V1 will not reach the intersection before V3, thenavoidance program 112 determines which vehicle, V2 or V3, will reach theintersection first. In an embodiment, if avoidance program 112determines that V2 will not reach the intersection before V3, thenavoidance program 112 sets the sequence for the vehicles to V3, then V2,and finally V1. In an embodiment, if avoidance program 112 determinesthat V1 will not reach the intersection before V3 (“no” branch, decisionblock 528), then avoidance program 112 sets the sequence for thevehicles to V2, then V3, and finally V1.

It should be appreciated that embodiments of the present inventionprovide at least for collaborative accident prevention. However, FIG. 5provides only an illustration of one implementation and does not implyany limitations with regard to the environments in which differentembodiments may be implemented. Many modifications to the depictedenvironment may be made by those skilled in the art without departingfrom the scope of the invention as recited by the claims.

Avoidance program 112 checks V1 vs. V2 (step 502). In an embodiment,avoidance program 112 determines which vehicle, V1 or V2, will reach theintersection first using the process described in FIGS. 4 a and 4 b.

Avoidance program 112 determines if V1 is first (decision block 504). Inan embodiment, if avoidance program 112 determines that V2 will gothrough the intersection before V1 (“no” branch, decision block 504),then avoidance program 112 proceeds to step 520.

Avoidance program 112 checks V2 vs. V3 (decision block 506). In anembodiment, if avoidance program 112 determines that V1 will reach theintersection first (“yes” branch, decision block 504), then avoidanceprogram 112 determines which vehicle, V2 or V3, will go through theintersection next, using the process described in FIGS. 4 a and 4 b.

Avoidance program 112 determines if V2 is first (decision block 508). Inan embodiment, if avoidance program 112 determines that V3 will gothrough the intersection next (“no” branch, decision block 508), thenavoidance program 112 proceeds to step 512.

Avoidance program 112 sets the sequence to V1, V2, V3 (step 510). In anembodiment, if avoidance program 112 determines that V2 will go throughthe intersection before V3 (“yes” branch, decision block 508), thenavoidance program 112 sets the sequence for the vehicles to V1, then V2,and finally V3. In an embodiment, avoidance program 112 determined thesequence by iteratively applying the process in FIGS. 4 a and 4 b to thevehicles two by two. In an embodiment, NewVIV vectors are broadcast foreach vehicle during each iteration of the process described in FIGS. 4 aand 4 b . Therefore, each vehicle has received updated intersectioncrossing information. Avoidance program 112 then ends for this cycle.

Avoidance program 112 checks V1 vs. V3 (step 512). In an embodiment, ifavoidance program 112 determines that that V3 will go through theintersection before V2 (“no” branch, decision block 508), then avoidanceprogram 112 determines which vehicle, V1 or V3, will go through theintersection first, using the process described in FIGS. 4 a and 4 b.

Avoidance program 112 determines if V1 is first (decision block 514). Inan embodiment, if avoidance program 112 determines that V1 will gothrough the intersection before V3 (“yes” branch, decision block 514),then avoidance program 112 proceeds to step 518.

Avoidance program 112 sets the sequence to V3, V1, V2 (step 516). In anembodiment, if avoidance program 112 determines that V1 will not gothrough the intersection before V3 (“no” branch, decision block 514),then avoidance program 112 sets the sequence for the vehicles to V3,then V1, and finally V2. In an embodiment, avoidance program 112determined the sequence by iteratively applying the process in FIGS. 4 aand 4 b to the vehicles two by two. In an embodiment, NewVIV vectors arebroadcast for each vehicle during each iteration of the processdescribed in FIGS. 4 a and 4 b . Therefore, each vehicle has receivedupdated intersection crossing information. Avoidance program 112 thenends for this cycle.

Avoidance program 112 sets the sequence to V1, V3, V2 (step 518). In anembodiment, if avoidance program 112 determines that V1 will go throughthe intersection before V3 (“yes” branch, decision block 514), thenavoidance program 112 sets the sequence for the vehicles to V1, then V3,and finally V2. In an embodiment, avoidance program 112 determined thesequence by iteratively applying the process in FIGS. 4 a and 4 b to thevehicles two by two. In an embodiment, NewVIV vectors are broadcast foreach vehicle during each iteration of the process described in FIGS. 4 aand 4 b . Therefore, each vehicle has received updated intersectioncrossing information. Avoidance program 112 then ends for this cycle.

Avoidance program 112 checks V1 vs. V3 (step 520). In an embodiment, ifavoidance program 112 determines that V1 will not go through theintersection before V2 (“no” branch, decision block 504), then avoidanceprogram 112 determines whether V1 or V3 will reach the intersectionfirst. In an embodiment, avoidance program 112 has determined that V2will go through the intersection first by applying the process in FIGS.4 a and 4 b to V1 and V2 in step 502.

Avoidance program 112 determines if V1 is first (decision block 522). Inan embodiment, if avoidance program 112 determines that V1 will not gothrough the intersection before V3 (“no” branch, decision block 522),then avoidance program 112 proceeds to step 526.

Avoidance program 112 sets the sequence to V2, V1, V3 (step 524). In anembodiment, if avoidance program 112 determines that V1 will go throughthe intersection before V3 (“yes” branch, decision block 522), thenavoidance program 112 sets the sequence for the vehicles to V2, then V1,and finally V3. In an embodiment, avoidance program 112 determined thesequence by iteratively applying the process in FIGS. 4 a and 4 b to thevehicles two by two. In an embodiment, NewVIV vectors are broadcast foreach vehicle during each iteration of the process described in FIGS. 4 aand 4 b . Therefore, each vehicle has received updated intersectioncrossing information. Avoidance program 112 then ends for this cycle.

Avoidance program 112 checks V2 vs. V3 (step 526). In an embodiment, ifavoidance program 112 determines that V1 will not go through theintersection before V3 (“no” branch, decision block 522), then V1 willcross the intersection last of V1, V2, and V3, and therefore avoidanceprogram 112 determines which vehicle, V2 or V3, will go through theintersection first. In an embodiment, avoidance program 112 applies theprocess in FIGS. 4 a and 4 b to V2 and V3 to determine which vehiclewill go through the intersection next.

Avoidance program 112 determines if V2 is first (decision block 528). Inan embodiment, if avoidance program 112 determines that V2 will gothrough the intersection before V3 (“yes” branch, decision block 528),then avoidance program 112 proceeds to step 532.

Avoidance program 112 sets the sequence to V3, V2, V1 (step 530). In anembodiment, if avoidance program 112 determines that V2 will not gothrough the intersection before V3 (“no” branch, decision block 528),then avoidance program 112 sets the sequence for the vehicles to V3,then V2, and finally V1. In an embodiment, avoidance program 112determined the sequence by iteratively applying the process in FIGS. 4 aand 4 b to the vehicles two by two. In an embodiment, NewVIV vectors arebroadcast for each vehicle during each iteration of the processdescribed in FIGS. 4 a and 4 b . Therefore, each vehicle has receivedupdated intersection crossing information. Avoidance program 112 thenends for this cycle.

Avoidance program 112 sets the sequence to V2, V3, V1 (step 532). In anembodiment, if avoidance program 112 determines that V1 will not reachthe intersection before V3 (“no” branch, decision block 528), thenavoidance program 112 sets the sequence for the vehicles to V2, then V3,and finally V1. In an embodiment, avoidance program 112 determined thesequence by iteratively applying the process in FIGS. 4 a and 4 b to thevehicles two by two. In an embodiment, NewVIV vectors are broadcast foreach vehicle during each iteration of the process described in FIGS. 4 aand 4 b . Therefore, each vehicle has received updated intersectioncrossing information. Avoidance program 112 then ends for this cycle.

FIGS. 6 a, 6 b, and 6 c are a flow chart diagram of workflow 600depicting operational steps for the functions of avoidance program 112,122, 132, 142, and 152 for collaborative accident prevention when aconvoy, or potential convoy, approaches an intersection. It should benoted that, in the specific context of avoidance program 112, 122, 132,142, and 152, the notion of convoy is dynamic and circumstantial:vehicles that are approaching the same crossing from the same directionand that are detected to be close to each other within a threshold aredynamically assembled into a logical convoy by avoidance program 112,122, 132, 142, and 152. Vehicles that have been included into suchconvoy are subsequently released from the convoy by avoidance program112, 122, 132, 142, and 152 as they exit the intersection area.

In an alternative embodiment, the steps of workflow 600 may be performedby any other program while working with avoidance program 112, 122, 132,142, and 152. It should be appreciated that the process depicted inFIGS. 6 a, 6 b, and 6 c illustrate one possible iteration of avoidanceprogram 112, 122, 132, 142, and 152, which repeats each time the vehiclecontaining the computing device running avoidance program 112, 122, 132,142, or 152 approaches an intersection. It should be noted that theprocess below describes the procedure for three vehicles in a convoy,but the process is iterative and is repeated for any number of vehiclesapproaching the same intersection in the same direction. In anembodiment, there is a maximum convoy size allowed. In an embodiment,the maximum convoy size is a system default.

It should be noted that workflow 600 is written from the perspective ofavoidance program 112 running on computing device 110 in a vehicle V1,but the same program is running as avoidance program 122 on computingdevice 120 in a vehicle V2, avoidance program 132 on computing device130 in a vehicle V3, avoidance program 142 on computing device 140 in avehicle V4, avoidance program 152 on computing device 150 in a vehicleV5, or as many vehicles as are approaching the intersection. Theidentical algorithm is performed by each copy of the avoidance programrunning on the computing device in each vehicle. In an embodiment, eachcopy of the avoidance program compares the results it calculated to theresults received from the copy of the avoidance program running on thecomputing devices in the other vehicles, and only proceeds if theresults are identical. In an embodiment, if the results are notidentical, then the avoidance program in each vehicle notifies thedriver to manually determine which vehicle should proceed first.

In an embodiment, avoidance program 112 running on computing device 110in vehicle V1 receives VIV2 from avoidance program 122 running oncomputing device 120 in vehicle V2. In an embodiment, avoidance program112 determines if the two vehicles are traveling on the same road and,if so, if they are traveling in the same direction. In an embodiment, ifavoidance program 112 determines that the two vehicles are traveling onthe same road and in the same direction, then V1 and V2 are candidatesfor a convoy, and avoidance program 112 then determines if the distancebetween V1 and V2 is less than a threshold distance. In an embodiment,if avoidance program 112 determines if the distance between V1 and V2 isless than a threshold distance, and either V1 or V2 or both are alreadypart of a convoy, then avoidance program 112 determines whether V1 andV2 are the closest pair of vehicles. In an embodiment, avoidance program112 determines if the convoy identification, Cid1, is equal to 0. In anembodiment, if Cid1≠0, then V1 is already part of a convoy, andavoidance program 112 absorbs V2 into Convoy1. In an embodiment, sinceV2 is being absorbed into Convoy1, avoidance program 112 determines ifV1 is in front of V2. In an embodiment, if avoidance program 112determines that V1 is in front of V2, then avoidance program 112 sets V2as the last vehicle in Convoy1. In an embodiment, since V2 has beenadded to Convoy1, avoidance program 112 sets the convoy identificationof V2, i.e., Cid2, to the identification of Convoy1 (i.e., V2 is now inConvoy1, so convoy identification of V2 is set to Convoy1). In anembodiment, avoidance program 112 sets the position of V2 to the nextposition in Convoy1. In an embodiment, avoidance program 112 setsCVI1=VIV2+CVI2, where CVIx is a list of the vehicle information vectorsVIV of all the vehicles that follow vehicle x in a convoy. In anembodiment, if avoidance program 112 determines that V1 is not in frontof V2, then avoidance program 112 sets V2 as the first vehicle inConvoy1. In an embodiment, since V2 has been added to Convoy1, avoidanceprogram 112 sets the identification of Convoy2 equal to theidentification of Convoy1 (i.e., V2 is now in Convoy1, so its convoyidentification is changed to Convoy1). In an embodiment, avoidanceprogram 112 determines if Cid2=0. In an embodiment, if avoidance program112 determines that Cid2=0, then V2 is not already part of a convoy, andavoidance program 112 builds a new Convoy1. In an embodiment, since V2is being absorbed into Convoy1, avoidance program 112 determines if V1is in front of V2. In an embodiment, if avoidance program 112 determinesthat V1 is in front of V2, then avoidance program 112 sets V1 as thefirst vehicle in Convoy1. In an embodiment, since avoidance program 112is building a new Convoy1, avoidance program 112 creates a Cid1 forConvoy1. In an embodiment, avoidance program 112 sets the position of V1to the first position in Convoy1, since it is the first vehicle in thenewly created Convoy1. In an embodiment, since Convoy1 is newly createdand V1 is the first vehicle in Convoy1, avoidance program 112 sets theconvoy vector CVI1 to the vector for V2, since that vector representsall the vehicles behind V1. In an embodiment, if avoidance program 112determines that V1 is not in front of V2, then avoidance program 112sets V1 as the last vehicle in Convoy1. Since this is a new convoy, theonly vehicles in Convoy1 are V1 and V2, and since V1 is not in front ofV2, it is the last vehicle in Convoy1. In an embodiment, since avoidanceprogram 112 is building a new Convoy1, avoidance program 112 creates aCid1 for Convoy1. In an embodiment, avoidance program 112 sets theposition of V1 to the last position in Convoy1, since it is the lastvehicle in the newly created Convoy1. In an embodiment, since Convoy1 isnewly created and V2 is the first vehicle in Convoy1, avoidance program112 sets the convoy vector CVI2 to the vector for V1, since that vectorrepresents all the vehicles behind V2 (i.e., only V1 since this is a newconvoy). In an embodiment, if avoidance program 112 determines thatCid2≠0, then V2 is already part of a convoy, and since Convoy1 is empty,but Convoy2 is not empty, avoidance program 112 absorbs vehicle V1 intoConvoy2. In an embodiment, since V2 is being absorbed into Convoy1,avoidance program 112 determines if V1 is in front of V2. In anembodiment, if avoidance program 112 determines that V1 is in front ofV2, then avoidance program 112 sets V1 as the first vehicle in Convoy2.In an embodiment, since V1 has been added to Convoy2, avoidance program112 sets the identification of Convoy1 equal to the identification ofConvoy2 (i.e., V1 is now in Convoy2, so convoy identification of V1 ischanged to Convoy2). In an embodiment, avoidance program 112 sets theposition of V1 to the first position in Convoy2, i.e., avoidance program112 decrements the current vehicle position of Convoy2 and assigns thatposition to V1. In an embodiment, since V1 is now the first vehicle inConvoy2, avoidance program 112 adds the vehicle vector information fromV2, VIV2, to the convoy information vector of V1, CVI1, and concatenatesto it the convoy information vector from V2, CVI2, if any is found. Inan embodiment, if avoidance program 112 determines that V1 is not infront of V2, then avoidance program 112 sets V1 as the last vehicle inConvoy2, since the only vehicles in Convoy2 are V1 and V2, and V1 isbehind V2. In an embodiment, since V1 has been added to Convoy2,avoidance program 112 sets the identification of Convoy1 equal to theidentification of Convoy2 (i.e., V1 is now in Convoy2, so its convoyidentification is changed to Convoy2). In an embodiment, avoidanceprogram 112 sets the position of V1 to the next position in Convoy2,i.e., avoidance program 112 decrements the current vehicle position ofConvoy2 and assigns that position to V1. In an embodiment, avoidanceprogram 112 adds the vehicle vector information from V1, VIV1, to theconvoy information vector of V2, CVI2, and concatenates to it the convoyinformation vector from V1, CVI1, if any is found. In an embodiment,avoidance program 112 builds NewVIV1 to pass the updated intersectioncrossing data (speed, etc.) to V1. In an embodiment, avoidance program112 builds NewVIV2 to pass the updated intersection crossing data(speed, etc.) to V1. In an embodiment, avoidance program 112 sendsNewVIV1 and NewVIV2 to both V1 and V2.

It should be appreciated that embodiments of the present inventionprovide at least for collaborative accident prevention. However, FIGS. 6a, 6 b, and 6 c provide only an illustration of one implementation anddoes not imply any limitations with regard to the environments in whichdifferent embodiments may be implemented. Many modifications to thedepicted environment may be made by those skilled in the art withoutdeparting from the scope of the invention as recited by the claims.

Avoidance program 112 receives VIV2 from V2 (step 602). In anembodiment, avoidance program 112 running on computing device 110 invehicle V1 receives VIV2 from avoidance program 122 running on computingdevice 120 in vehicle V2.

Avoidance program 112 determines if V1, V2 are on the same road anddirection (decision block 604). In an embodiment, avoidance program 112determines if the two vehicles are traveling on the same road and, ifso, if they are traveling in the same direction. In an embodiment,avoidance program 112 determines if the two vehicles are traveling onthe same road and in the same direction from the information in VIV1 andVIV2. If avoidance program 112 determines that the two vehicles are nottraveling on the same road or not in the same direction (“no” branch,decision block 604), then V1 and V2 are not candidates for a convoy, andavoidance program 112 ends for this cycle.

Avoidance program 112 determines if the distance between V1 and V2 isless than a threshold (decision block 606). If avoidance program 112determines that the two vehicles are traveling on the same road and inthe same direction (“yes” branch, decision block 604), then V1 and V2are candidates for a convoy, and avoidance program 112 next determinesif the distance between V1 and V2 is less than a threshold distance.This threshold distance is the furthest distance between V1 and V2 to beconsidered safely within a convoy. In an embodiment, the thresholddistance is a system default. In an embodiment, the user of thecomputing device running avoidance program 112 cannot change thethreshold distance for safety reasons.

Avoidance program 112 determines if V1, V2 are the closest pair(decision block 608). In an embodiment, if avoidance program 112determines if the distance between V1 and V2 is less than a thresholddistance (“yes” branch, decision block 606), and either V1 or V2 or bothare already part of a convoy, then avoidance program 112 determineswhether V1 and V2 are the closest pair of vehicles. If either V1 or V2,or both, are already in a convoy, then V1 and V2 are the closest pair.In an embodiment, if avoidance program 112 determines that V1 and V2 arethe closest pair of vehicles (“yes” branch, decision block 608), thenavoidance program 112 proceeds to decision block 610. If avoidanceprogram 112 determines that V1 and V2 are not the closest pair ofvehicles, then avoidance program 112 chooses a different pair ofvehicles and repeats decision block 608 until the closest pair is found.

In an embodiment, if one of the two vehicles V1 and V2, or both, arealready in a convoy, the two vehicles that negotiate the merger are thetwo that are the closest to each other. For example, if V1 and V3 form aconvoy C1 and V2 and V4 form a convoy C2, then V2 will negotiate itsmerger into C1 with V1 if the distance D(V1,V2) between them is thesmallest of all permutations, in this case smaller than D(V1,V4) orD(V2,V3).

For the remainder of workflow 600, it is assumed that V1 and V2 are theclosest pair. If another pair is determined to be the closest pair,substitute the two closest vehicles for V1 and V2 below.

In an embodiment, if avoidance program 112 determines that the distancebetween V1 and V2 is not less than a threshold distance (“no” branch,decision block 606), then avoidance program 112 ends for this cycle.

Avoidance program 112 determines if Cid1=0 (decision block 610). In anembodiment, avoidance program 112 determines if the convoyidentification for convoy 1, Cid1, is equal to 0. In an embodiment, ifavoidance program 112 determines that Cid1=0 (“yes” branch, decisionblock 610), then V1 is not already part of a convoy, and avoidanceprogram 112 proceeds to decision block 632 to determine if V2 is alreadypart of a convoy.

Avoidance program 112 Absorbs V2 into Convoy1 (step 612). In anembodiment, if avoidance program 112 determines that Cid1≠0 (“no”branch, decision block 610), then V1 is already part of a convoy, andavoidance program 112 absorbs V2 into Convoy1.

Avoidance program 112 determines if V1 is in front of V2 (decision block614). In an embodiment, since V2 is being absorbed into Convoy1,avoidance program 112 determines if V1 is in front of V2. In anembodiment, if avoidance program 112 determines that V1 is not in frontof V2 (“no” branch, decision block 614), then avoidance program 112proceeds to step 624.

Avoidance program 112 sets V2 as the last vehicle in Convoy1 (step 616).In an embodiment, if avoidance program 112 determines that V1 is infront of V2 (“yes” branch, decision block 614), then avoidance program112 sets V2 as the last vehicle in Convoy1.

Avoidance program 112 sets Cid2 to Cid1 (step 618). In an embodiment,since V2 has been added to Convoy1, avoidance program 112 sets theconvoy identification of V2, i.e., Cid2, to the identification ofConvoy1 (i.e., V2 is now in Convoy1, so convoy identification of V2 isset to Convoy1).

Avoidance program 112 sets Cpos2=Cpos1+1 (step 620). In an embodiment,avoidance program 112 sets the position of V2 to the next position inConvoy1, i.e., avoidance program 112 increments the current vehicleposition of Convoy1 and assigns that position to V2.

Avoidance program 112 sets CVI1=VIV2+CVI2 (step 622). In an embodiment,avoidance program 112 sets CVI1=VIV2+CVI2, where CVIx is a list of thevehicle information vectors VIV of all the vehicles that follow vehiclex in a convoy. In an embodiment, avoidance program 112 adds the vehiclevector information from V2, VIV2, to the convoy information vector ofV1, CVI1, and concatenates to it the convoy information vector from V2,CVI2, if any is found. In an embodiment, avoidance program 112 thenproceeds to step 674.

Avoidance program 112 sets V2 as the first vehicle in Convoy1 (step624). In an embodiment, if avoidance program 112 determines that V1 isnot in front of V2 (“no” branch, decision block 614), then avoidanceprogram 112 sets V2 as the first vehicle in Convoy1.

Avoidance program 112 sets Cid2 to Cid1 (step 626). In an embodiment,since V2 has been added to Convoy1, avoidance program 112 sets theidentification of Convoy2 equal to the identification of Convoy1 (i.e.,V2 is now in Convoy1, so its convoy identification is changed toConvoy1).

Avoidance program 112 sets Cpos2=Cpos1−1 (step 628). In an embodiment,avoidance program 112 sets the position of V2, Cpos2, to the previousposition in Convoy1, i.e., avoidance program 112 decrements the currentvehicle position of Convoy1 and assigns that position to V2.

Avoidance program 112 sets CVI2=VIV1+CVI1 (step 630). In an embodiment,avoidance program 112 adds the vehicle vector information from V1, VIV1,to the convoy information vector of V2, CVI2, and concatenates to it theconvoy information vector from V1, CVI1, if any is found. In anembodiment, avoidance program 112 then proceeds to step 674.

Avoidance program 112 determines if Cid2=0 (decision block 632). In anembodiment, avoidance program 112 determines if Cid2=0. In anembodiment, if avoidance program 112 determines that Cid2≠0 (“no”branch, decision block 632), then V2 is already part of a convoy, andavoidance program 112 proceeds to decision block 654.

Avoidance program 112 builds new Convoy1 (step 634). In an embodiment,if avoidance program 112 determines that Cid2=0 (“yes” branch, decisionblock 632), then neither V1 nor V2 is already part of a convoy, andavoidance program 112 builds a new Convoy1.

Avoidance program 112 determines if V1 is in front of V2 (decision block636). In an embodiment, since V2 is being absorbed into Convoy1,avoidance program 112 determines if V1 is in front of V2. In anembodiment, if avoidance program 112 determines that V1 is not in frontof V2 (“no” branch, decision block 636), then avoidance program 112proceeds to step 646.

Avoidance program 112 sets V1 as the first vehicle in Convoy1 (step638). In an embodiment, if avoidance program 112 determines that V1 isin front of V2 (“yes” branch, decision block 636), then avoidanceprogram 112 sets V1 as the first vehicle in Convoy1.

Avoidance program 112 creates Cid1 (step 640). In an embodiment, sinceavoidance program 112 is building a new Convoy1, avoidance program 112creates a convoy identification Cid1 for Convoy1.

Avoidance program 112 sets Cpos=1 (step 642). In an embodiment,avoidance program 112 sets the position of V1 to the first position inConvoy1, since it is the first vehicle in the newly created Convoy1.

Avoidance program 112 sets CVI1=VIV2 (step 644). In an embodiment, sinceConvoy1 is newly created and V1 is the first vehicle in Convoy1,avoidance program 112 sets the convoy vector CVI1 to the vector for V2,since that vector represents all the vehicles behind V1 (i.e., only V2since this is a new convoy). In an embodiment, avoidance program 112then proceeds to step 674.

Avoidance program 112 sets V1 as the last vehicle in Convoy1 (step 646).In an embodiment, if avoidance program 112 determines that V1 is not infront of V2 (“no” branch, decision block 636), then avoidance program112 sets V1 as the last vehicle in Convoy1. Since this is a new convoy,the only vehicles in Convoy1 are V1 and V2, and since V1 is not in frontof V2, it is the last vehicle in Convoy1.

Avoidance program 112 creates Cid1 (step 648). In an embodiment, sinceavoidance program 112 is building a new Convoy1, avoidance program 112creates a convoy identification Cid1 for Convoy1.

Avoidance program 112 sets Cpos1=2 (step 650). In an embodiment,avoidance program 112 sets the position of V1 to the last position inConvoy1, since it is the last vehicle in the newly created Convoy1.

Avoidance program 112 sets CVI2=VIV1 (step 652). In an embodiment, sinceConvoy1 is newly created and V2 is the first vehicle in Convoy1,avoidance program 112 sets the convoy vector CVI2 to the vector for V1,since that vector represents all the vehicles behind V2 (i.e., only V1since this is a new convoy). In an embodiment, avoidance program 112then proceeds to step 674.

Avoidance program 112 absorbs V1 into Convoy2 (decision block 654). Inan embodiment, if avoidance program 112 determines that Cid2≠0 (“no”branch, decision block 632), then V2 is already part of a convoy, andsince Convoy1 is empty, but Convoy2 is not empty, avoidance program 112absorbs vehicle V1 into Convoy2.

Avoidance program 112 determines if V1 is in front of V2 (decision block656). In an embodiment, since V2 is being absorbed into Convoy1,avoidance program 112 determines if V1 is in front of V2. In anembodiment, if avoidance program 112 determines that V1 is not in frontof V2 (“no” branch, decision block 656), then avoidance program 112proceeds to step 666.

Avoidance program 112 sets V1 as the first vehicle in Convoy2 (step658). In an embodiment, if avoidance program 112 determines that V1 isin front of V2 (“yes” branch, decision block 656), then avoidanceprogram 112 sets V1 as the first vehicle in Convoy2.

Avoidance program 112 sets Cid1 to Cid2 (step 660). In an embodiment,since V1 has been added to Convoy2, avoidance program 112 sets theidentification of Convoy1 equal to the identification of Convoy2 (i.e.,V1 is now in Convoy2, so convoy identification of V1 is changed toConvoy2).

Avoidance program 112 sets Cpos1=Cpos2−1 (step 662). In an embodiment,avoidance program 112 sets the position of V1 to the first position inConvoy2, i.e., avoidance program 112 decrements the current vehicleposition of Convoy2 and assigns that position to V1.

Avoidance program 112 sets CVI1=VIV2+CVI2 (step 664). In an embodiment,since V1 is now the first vehicle in Convoy2, avoidance program 112 addsthe vehicle vector information from V2, VIV2, to the convoy informationvector of V1, CVI1, and concatenates to it the convoy information vectorfrom V2, CVI2, if any is found. In an embodiment, avoidance program 112then proceeds to step 674.

Avoidance program 112 sets V1 as the last vehicle in Convoy2 (step 666).In an embodiment, if avoidance program 112 determines that V1 is not infront of V2 (“no” branch, decision block 656), then avoidance program112 sets V1 as the last vehicle in Convoy2, since Convoy2 absorbs V1,and V1 is behind V2.

Avoidance program 112 sets Cid1 to Cid2 (step 668). In an embodiment,since V1 has been added to Convoy2, avoidance program 112 sets theidentification of Convoy1 equal to the identification of Convoy2 (i.e.,V1 is now in Convoy2, so its convoy identification is changed toConvoy2).

Avoidance program 112 sets Cpos1=Cpos2+1 (step 670). In an embodiment,avoidance program 112 sets the position of V1 to the next position inConvoy2, i.e., avoidance program 112 increments the current vehicleposition of Convoy2 and assigns that position to V1.

Avoidance program 112 sets CVI2=VIV1+CVI1 (step 672). In an embodiment,avoidance program 112 adds the vehicle vector information from V1, VIV1,to the convoy information vector of V2, CVI2, and concatenates to it theconvoy information vector from V1, CVI1, if any is found.

Avoidance program 112 builds a new VIV1 (step 674). In an embodiment,avoidance program 112 builds NewVIV1 to pass the updated intersectioncrossing data (speed, etc.) to V1. In an embodiment, the NewVIV1 isbased on the data from the original VIV1 and the CVI of the convoy ofwhich V1 is now a member.

Avoidance program 112 builds a new VIV2 (step 676). In an embodiment,avoidance program 112 builds NewVIV2 to pass the updated intersectioncrossing data (speed, etc.) to V1. In an embodiment, the NewVIV2 isbased on the data from the original VIV2 and the CVI of the convoy ofwhich V2 is now a member.

Avoidance program 112 sends NewVIV1 and NewVIV2 (step 678). In anembodiment, avoidance program 112 sends NewVIV1 and NewVIV2 to both V1and V2. Avoidance program 112 then updates the driver of each vehicle tothe new speed and crossing information. Note—if there are more vehiclesto be added to the convoy, the above repeats for each vehicle in theconvoy.

FIG. 7 is a block diagram depicting components of computing devices 110,120, 130, 140, and 150, suitable for avoidance program 112, inaccordance with at least one embodiment of the invention. FIG. 7displays the computer 700, one or more processor(s) 704 (including oneor more computer processors), a communications fabric 702, a memory 706including, a random-access memory (RAM) 716, and a cache 718, apersistent storage 708, a communications unit 712, I/O interfaces 714, adisplay 722, and external devices 720. It should be appreciated thatFIG. 7 provides only an illustration of one embodiment and does notimply any limitations with regard to the environments in which differentembodiments may be implemented. Many modifications to the depictedenvironment may be made.

As depicted, the computer 700 operates over the communications fabric702, which provides communications between the computer processor(s)704, memory 706, persistent storage 708, communications unit 712, andinput/output (I/O) interface(s) 714. The communications fabric 702 maybe implemented with an architecture suitable for passing data or controlinformation between the processors 704 (e.g., microprocessors,communications processors, and network processors), the memory 706, theexternal devices 720, and any other hardware components within a system.For example, the communications fabric 702 may be implemented with oneor more buses.

The memory 706 and persistent storage 708 are computer readable storagemedia. In the depicted embodiment, the memory 706 comprises a RAM 716and a cache 718. In general, the memory 706 can include any suitablevolatile or non-volatile computer readable storage media. Cache 718 is afast memory that enhances the performance of processor(s) 704 by holdingrecently accessed data, and near recently accessed data, from RAM 716.

Program instructions for avoidance program 112 may be stored in thepersistent storage 708, or more generally, any computer readable storagemedia, for execution by one or more of the respective computerprocessors 704 via one or more memories of the memory 706. Thepersistent storage 708 may be a magnetic hard disk drive, a solid-statedisk drive, a semiconductor storage device, read only memory (ROM),electronically erasable programmable read-only memory (EEPROM), flashmemory, or any other computer readable storage media that is capable ofstoring program instruction or digital information.

The media used by persistent storage 708 may also be removable. Forexample, a removable hard drive may be used for persistent storage 708.Other examples include optical and magnetic disks, thumb drives, andsmart cards that are inserted into a drive for transfer onto anothercomputer readable storage medium that is also part of persistent storage708.

The communications unit 712, in these examples, provides forcommunications with other data processing systems or devices. In theseexamples, the communications unit 712 includes one or more networkinterface cards. The communications unit 712 may provide communicationsthrough the use of either or both physical and wireless communicationslinks. In the context of some embodiments of the present invention, thesource of the various input data may be physically remote to thecomputer 700 such that the input data may be received, and the outputsimilarly transmitted via the communications unit 712.

The I/O interface(s) 714 allows for input and output of data with otherdevices that may be connected to computer 700. For example, the I/Ointerface(s) 714 may provide a connection to external device(s) 720 suchas a keyboard, a keypad, a touch screen, a microphone, a digital camera,and/or some other suitable input device. External device(s) 720 can alsoinclude portable computer readable storage media such as, for example,thumb drives, portable optical or magnetic disks, and memory cards.Software and data used to practice embodiments of the present invention,e.g., avoidance program 112, can be stored on such portable computerreadable storage media and can be loaded onto persistent storage 708 viathe I/O interface(s) 714. I/O interface(s) 714 also connect to a display722.

Display 722 provides a mechanism to display data to a user and may be,for example, a computer monitor. Display 722 can also function as atouchscreen, such as a display of a tablet computer.

The programs described herein are identified based upon the applicationfor which they are implemented in a specific embodiment of theinvention. However, it should be appreciated that any particular programnomenclature herein is used merely for convenience, and thus theinvention should not be limited to use solely in any specificapplication identified and/or implied by such nomenclature.

The present invention may be a system, a method, and/or a computerprogram product. The computer program product may include a computerreadable storage medium (or media) having computer readable programinstructions thereon for causing a processor to carry out aspects of thepresent invention.

The computer readable storage medium can be any tangible device that canretain and store instructions for use by an instruction executiondevice. The computer readable storage medium may be, for example, but isnot limited to, an electronic storage device, a magnetic storage device,an optical storage device, an electromagnetic storage device, asemiconductor storage device, or any suitable combination of theforegoing. A non-exhaustive list of more specific examples of thecomputer readable storage medium includes the following: a portablecomputer diskette, a hard disk, a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory (EPROMor Flash memory), a static random access memory (SRAM), a portablecompact disc read-only memory (CD-ROM), a digital versatile disk (DVD),a memory stick, a floppy disk, a mechanically encoded device such aspunch-cards or raised structures in a groove having instructionsrecorded thereon, and any suitable combination of the foregoing. Acomputer readable storage medium, as used herein, is not to be construedas being transitory signals per se, such as radio waves or other freelypropagating electromagnetic waves, electromagnetic waves propagatingthrough a waveguide or other transmission media (e.g., light pulsespassing through a fiber-optic cable), or electrical signals transmittedthrough a wire.

Computer readable program instructions described herein can bedownloaded to respective computing/processing devices from a computerreadable storage medium or to an external computer or external storagedevice via a network, for example, the Internet, a local area network, awide area network and/or a wireless network. The network may comprisecopper transmission cables, optical transmission fibers, wirelesstransmission, routers, firewalls, switches, gateway computers and/oredge servers. A network adapter card or network interface in eachcomputing/processing device receives computer readable programinstructions from the network and forwards the computer readable programinstructions for storage in a computer readable storage medium withinthe respective computing/processing device.

Computer readable program instructions for carrying out operations ofthe present invention may be assembler instructions,instruction-set-architecture (ISA) instructions, machine instructions,machine dependent instructions, microcode, firmware instructions,state-setting data, or either source code or object code written in anycombination of one or more programming languages, including an objectoriented programming language such as Smalltalk, C++ or the like, andconventional procedural programming languages, such as the “C”programming language or similar programming languages. The computerreadable program instructions may execute entirely on the user'scomputer, partly on the user's computer, as a stand-alone softwarepackage, partly on the user's computer and partly on a remote computeror entirely on the remote computer or server. In the latter scenario,the remote computer may be connected to the user's computer through anytype of network, including a local area network (LAN) or a wide areanetwork (WAN), or the connection may be made to an external computer(for example, through the Internet using an Internet Service Provider).In some embodiments, electronic circuitry including, for example,programmable logic circuitry, field-programmable gate arrays (FPGA), orprogrammable logic arrays (PLA) may execute the computer readableprogram instructions by utilizing state information of the computerreadable program instructions to personalize the electronic circuitry,in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems), and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer readable program instructions.

These computer readable program instructions may be provided to aprocessor of a general-purpose computer, a special purpose computer, orother programmable data processing apparatus to produce a machine, suchthat the instructions, which execute via the processor of the computeror other programmable data processing apparatus, create means forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks. These computer readable program instructionsmay also be stored in a computer readable storage medium that can directa computer, a programmable data processing apparatus, and/or otherdevices to function in a particular manner, such that the computerreadable storage medium having instructions stored therein comprises anarticle of manufacture including instructions which implement aspects ofthe function/act specified in the flowchart and/or block diagram blockor blocks.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatus, or other deviceto cause a series of operational steps to be performed on the computer,other programmable apparatus or other device to produce a computerimplemented process, such that the instructions which execute on thecomputer, other programmable apparatus, or other device implement thefunctions/acts specified in the flowchart and/or block diagram block orblocks.

The flowchart and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, a segment, or aportion of instructions, which comprises one or more executableinstructions for implementing the specified logical function(s). In somealternative implementations, the functions noted in the blocks may occurout of the order noted in the Figures. For example, two blocks shown insuccession may, in fact, be executed substantially concurrently, or theblocks may sometimes be executed in the reverse order, depending uponthe functionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts or carry out combinations of special purpose hardwareand computer instructions.

The descriptions of the various embodiments of the present inventionhave been presented for purposes of illustration but are not intended tobe exhaustive or limited to the embodiments disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of the invention.The terminology used herein was chosen to best explain the principles ofthe embodiment, the practical application or technical improvement overtechnologies found in the marketplace, or to enable others of ordinaryskill in the art to understand the embodiments disclosed herein.

What is claimed is:
 1. A computer-implemented method for collaborativeaccident prevention, the computer-implemented method comprising:receiving, by one or more computer processors, a first vehicleinformation vector associated with a first trajectory of a first vehicleapproaching an intersection, wherein the first vehicle informationvector contains at least a first vehicle speed, a first vehicleposition, and a first vehicle direction; receiving, by the one or morecomputer processors, a second vehicle information vector associated witha second trajectory of a second vehicle also approaching theintersection, wherein the second vehicle information vector contains atleast a second vehicle speed, a second vehicle position, and a secondvehicle direction; calculating, by the one or more processors, aprojected arrival time at which each of the first vehicle and the secondvehicle enters the intersection based on the first vehicle informationvector and the second vehicle information vector; adding, by the one ormore processors, a safety factor to the projected arrival time anddetermining if the second vehicle reaches the intersection after aprojected exit time of the first vehicle plus the safety factor;responsive to the second vehicle reaching the intersection before thefirst vehicle has left the intersection plus the safety factor,determining, by the one or more processors, that a collision is possibleand calculating a priority to cross the intersection of the firstvehicle and a priority to cross the intersection of the second vehicle;responsive to the priority of the first vehicle being the same as thepriority of the second vehicle, calculating, by the one or moreprocessors, a first adjusted vehicle speed for the first vehicle and asecond adjusted vehicle speed for the second vehicle to avoid thecollision; calculating, by the one or more processors, a first combinedcost of energy consumption, carbon footprint, and traffic flow for thefirst adjusted vehicle speed and a second combined cost of energyconsumption, carbon footprint, and traffic flow for the second adjustedvehicle speed; and based on the first combined cost for the firstvehicle being larger than the second combined cost for the secondvehicle, displaying, by the one or more processors, a message on adashboard of the first vehicle to prompt a first driver of the firstvehicle to change the first vehicle speed to the first adjusted vehiclespeed.
 2. The computer-implemented method of claim 1, wherein the firstvehicle information vector from the first vehicle and the second vehicleinformation vector from the second vehicle further comprises at leastone of: a vehicle identifier; a vehicle priority; a vehicle route data,wherein the vehicle route data includes at least one of a routeidentifier, a route direction, and global positioning system coordinatesof a route; a vehicle crossing data, wherein the vehicle crossing datais zero if a vehicle is not approaching the intersection; a vehiclecrossing time interval, wherein the vehicle crossing time intervalfurther comprises a projected arrival time at the intersectionassociated with each vehicle, a projected exit time at the intersectionassociated with each vehicle, and the safety factor at the intersection;and a vehicle dynamic data, wherein the vehicle dynamic data furthercomprises at least one of a vehicle current speed, a vehicle lowerpossible speeds, a vehicle energy consumption, and a vehicle carbonfootprint.
 3. The computer-implemented method of claim 2 furthercomprising: comparing, by the one or more computer processors, a firstvehicle priority of the first vehicle to a second vehicle priority ofthe second vehicle to determine a lower priority vehicle and a higherpriority vehicle; and responsive to determining that the first vehiclepriority is not equal to the second vehicle priority, adjusting, by theone or more computer processors, a vehicle speed of the lower priorityvehicle to allow the higher priority vehicle to cross the intersectionfirst.
 4. The computer-implemented method of claim 2 further comprising:calculating, by the one or more computer processors, from the vehicledynamic data of the first vehicle and the second vehicle, a firstcombined vehicle efficiency, wherein the first combined vehicleefficiency is calculated based on the first vehicle crossing theintersection first and a second combined vehicle efficiency, wherein thesecond combined vehicle efficiency is calculated based on the secondvehicle crossing the intersection first; comparing, by the one or morecomputer processors, the first combined vehicle efficiency to the secondcombined vehicle efficiency to determine a lower efficiency vehiclecrossing sequence and a higher efficiency vehicle crossing sequence; andresponsive to determining the higher efficiency vehicle crossingsequence, adjusting, by the one or more computer processors, a vehiclespeed of the vehicle crossing the intersection second according to thehigher efficiency vehicle crossing sequence to allow an other vehicle tocross the intersection first.
 5. The computer-implemented method ofclaim 1, wherein responsive to receiving the second vehicle informationvector from the second vehicle, calculating the optimal order to crossthe intersection based on the first vehicle information and the secondvehicle information further comprises: calculating, by the one or morecomputer processors, a first total time to clear the intersection if thefirst vehicle crosses the intersection first; calculating, by the one ormore computer processors, a second total time to clear the intersectionif the second vehicle crosses the intersection first; and responsive todetermining that the first total time to clear the intersection is notequal to the second total time to clear the intersection, determining,by the one or more computer processors, the optimal order to cross theintersection based on the first total time to clear the intersection andthe second total time to clear the intersection.
 6. A computer programproduct for collaborative accident prevention, the computer programproduct comprising: one or more computer readable storage devices andprogram instructions stored on the one or more computer readable storagedevices, the program instructions including instructions to: determine,by one or more computer processors, a first vehicle information vectorassociated with a first trajectory of a first vehicle approaching anintersection, wherein the first vehicle information vector contains atleast a first vehicle speed, a first vehicle position, and a firstvehicle direction; determine, by the one or more computer processors, asecond vehicle information vector associated with a second trajectory ofa second vehicle also approaching the intersection, wherein the secondvehicle information vector contains at least a second vehicle speed, asecond vehicle position, and a second vehicle direction; calculate, bythe one or more processors, a projected arrival time at which each ofthe first vehicle and the second vehicle enters the intersection basedon the first vehicle information vector and the second vehicleinformation vector; add, by the one or more processors, a safety factorto the projected arrival time and determining if the second vehiclereaches the intersection after a projected exit time of the firstvehicle plus the safety factor; responsive to the second vehiclereaching the intersection before the first vehicle has left theintersection plus the safety factor, determine, by the one or moreprocessors, that a collision is possible and calculating a priority tocross the intersection of the first vehicle and a priority to cross theintersection of the second vehicle; responsive to the priority of thefirst vehicle being the same as the priority of the second vehicle,calculate, by the one or more processors, a first adjusted vehicle speedfor the first vehicle and a second adjusted vehicle speed for the secondvehicle to avoid the collision; calculate, by the one or moreprocessors, a first combined cost of energy consumption, carbonfootprint, and traffic flow for the first adjusted vehicle speed and asecond combined cost of energy consumption, carbon footprint, andtraffic flow for the second adjusted vehicle speed; and based on thefirst combined cost for the first vehicle being larger than the secondcombined cost for the second vehicle, display, by the one or moreprocessors, a message on a dashboard of the first vehicle to prompt afirst driver of the first vehicle to change the first vehicle speed tothe first adjusted vehicle speed.
 7. The computer program product ofclaim 6, wherein the first vehicle information vector from the firstvehicle and the second vehicle information vector from the secondvehicle further comprises at least one of: a vehicle identifier; avehicle priority; a vehicle route data, wherein the vehicle route dataincludes at least one of a route identifier, a route direction, andglobal positioning system coordinates of a route; a vehicle crossingdata, wherein the vehicle crossing data is zero if a vehicle is notapproaching the intersection; a vehicle crossing time interval, whereinthe vehicle crossing time interval further comprises a projected arrivaltime at the intersection associated with each vehicle, a projected exittime at the intersection associated with each vehicle, and the safetyfactor at the intersection; and a vehicle dynamic data, wherein thevehicle dynamic data further comprises at least one of a vehicle currentspeed, a vehicle lower possible speeds, a vehicle energy consumption,and a vehicle carbon footprint.
 8. The computer program product of claim7, further comprising one or more of the following program instructions,stored on the one or more computer readable storage media, to: compare afirst vehicle priority of the first vehicle to a second vehicle priorityof the second vehicle to determine a lower priority vehicle and a higherpriority vehicle; and responsive to determining that the first vehiclepriority is not equal to the second vehicle priority, adjust a vehiclespeed of the lower priority vehicle to allow the higher priority vehicleto cross the intersection first.
 9. The computer program product ofclaim 7 further comprising one or more of the following programinstructions, stored on the one or more computer readable storage media,to: calculate from the vehicle dynamic data of the first vehicle and thesecond vehicle, a first combined vehicle efficiency, wherein the firstcombined vehicle efficiency is calculated based on the first vehiclecrossing the intersection first and a second combined vehicleefficiency, wherein the second combined vehicle efficiency is calculatedbased on the second vehicle crossing the intersection first; compare thefirst combined vehicle efficiency to the second combined vehicleefficiency to determine a lower efficiency vehicle crossing sequence anda higher efficiency vehicle crossing sequence; and responsive todetermining the higher efficiency vehicle crossing sequence, adjust avehicle speed of the vehicle crossing the intersection in secondaccording to the higher efficiency vehicle crossing sequence to allow another vehicle to cross the intersection first.
 10. The computer programproduct of claim 6, wherein responsive to receiving the second vehicleinformation vector from the second vehicle, calculating the optimalorder to cross the intersection based on the first vehicle informationand the second vehicle information further comprises one or more of thefollowing program instructions, stored on the one or more computerreadable storage media, to: calculate a first total time to clear theintersection if the first vehicle crosses the intersection first;calculate a second total time to clear the intersection if the secondvehicle crosses the intersection first; and responsive to determiningthat the first total time to clear the intersection is not equal to thesecond total time to clear the intersection, determine the optimal orderto cross the intersection based on the first total time to clear theintersection and the second total time to clear the intersection.
 11. Acomputer system for collaborative accident prevention, the computersystem comprising: one or more computer processors; one or more computerreadable storage media; and program instructions stored on the one ormore computer readable storage media for execution by at least one ofthe one or more computer processors, the computer program instructionsincluding instructions to: determine, by one or more computerprocessors, a first vehicle information vector associated with a firsttrajectory of a first vehicle approaching an intersection, wherein thefirst vehicle information vector contains at least a first vehiclespeed, a first vehicle position, and a first vehicle direction;determine, by the one or more computer processors, a second vehicleinformation vector associated with a second trajectory of a secondvehicle also approaching the intersection, wherein the second vehicleinformation vector contains at least a second vehicle speed, a secondvehicle position, and a second vehicle direction; calculate, by the oneor more processors, a projected arrival time at which each of the firstvehicle and the second vehicle enters the intersection based on thefirst vehicle information vector and the second vehicle informationvector; add, by the one or more processors, a safety factor to theprojected arrival time and determining if the second vehicle reaches theintersection after a projected exit time of the first vehicle plus thesafety factor; responsive to the second vehicle reaching theintersection before the first vehicle has left the intersection plus thesafety factor, determine, by the one or more processors, that acollision is possible and calculating a priority to cross theintersection of the first vehicle and a priority to cross theintersection of the second vehicle; responsive to the priority of thefirst vehicle being the same as the priority of the second vehicle,calculate, by the one or more processors, a first adjusted vehicle speedfor the first vehicle and a second adjusted vehicle speed for the secondvehicle to avoid the collision; calculate, by the one or moreprocessors, a first combined cost of energy consumption, carbonfootprint, and traffic flow for the first adjusted vehicle speed and asecond combined cost of energy consumption, carbon footprint, andtraffic flow for the second adjusted vehicle speed; and based on thefirst combined cost for the first vehicle being larger than the secondcombined cost for the second vehicle, display, by the one or moreprocessors, a message on a dashboard of the first vehicle to prompt afirst driver of the first vehicle to change the first vehicle speed tothe first adjusted vehicle speed.
 12. The computer system of claim 11,wherein the first vehicle information vector from the first vehicle andthe second vehicle information vector from the second vehicle furthercomprises at least one of: a vehicle identifier; a vehicle priority; avehicle route data, wherein the vehicle route data includes at least oneof a route identifier, a route direction, and global positioning systemcoordinates of a route; a vehicle crossing data, wherein the vehiclecrossing data is zero if a vehicle is not approaching the intersection;a vehicle crossing time interval, wherein the vehicle crossing timeinterval further comprises a projected arrival time at the intersectionassociated with each vehicle, a projected exit time at the intersectionassociated with each vehicle, and the safety factor at the intersection;and a vehicle dynamic data, wherein the vehicle dynamic data furthercomprises at least one of a vehicle current speed, a vehicle lowerpossible speeds, a vehicle energy consumption, and a vehicle carbonfootprint.
 13. The computer system of claim 12 further comprising one ormore of the following program instructions, stored on the one or morecomputer readable storage media, to: compare a first vehicle priority ofthe first vehicle to a second vehicle priority of the second vehicle todetermine a lower priority vehicle and a higher priority vehicle; andresponsive to determining that the first vehicle priority is not equalto the second vehicle priority, adjust a vehicle speed of the lowerpriority vehicle to allow the higher priority vehicle to cross theintersection first.
 14. The computer system of claim 12 furthercomprising one or more of the following program instructions, stored onthe one or more computer readable storage media, to: calculate from thevehicle dynamic data of the first vehicle and the second vehicle, afirst combined vehicle efficiency, wherein the first combined vehicleefficiency is calculated based on the first vehicle crossing theintersection first and a second combined vehicle efficiency, wherein thesecond combined vehicle efficiency is calculated based on the secondvehicle crossing the intersection first; compare the first combinedvehicle efficiency to the second combined vehicle efficiency todetermine a lower efficiency vehicle crossing sequence and a higherefficiency vehicle crossing sequence; and responsive to determining thehigher efficiency vehicle crossing sequence, adjust a vehicle speed ofthe vehicle crossing the intersection in second according to the higherefficiency vehicle crossing sequence to allow an other vehicle to crossthe intersection first.
 15. The computer system of claim 11, whereinresponsive to receiving the second vehicle information vector from thesecond vehicle, calculating the optimal order to cross the intersectionbased on the first vehicle information and the second vehicleinformation further comprises one or more of the following programinstructions, stored on the one or more computer readable storage media,to: calculate a first total time to clear the intersection if the firstvehicle crosses the intersection first; calculate a second total time toclear the intersection if the second vehicle crosses the intersectionfirst; and responsive to determining that the first total time to clearthe intersection is not equal to the second total time to clear theintersection, determine the optimal order to cross the intersectionbased on the first total time to clear the intersection and the secondtotal time to clear the intersection.
 16. A computer-implemented methodfor collaborative accident prevention, the computer-implemented methodcomprising: determining, by one or more computer processors, a firstvehicle information vector associated with a first trajectory of a firstvehicle approaching an intersection, wherein the first vehicleinformation vector from the first vehicle contains one or more firstvehicle information, including at least a first vehicle speed, a firstvehicle position, and a first vehicle direction; determining, by the oneor more computer processors, a second vehicle information vectorassociated with a second trajectory of a second vehicle also approachingthe intersection, wherein the second vehicle information vector from thesecond vehicle contains one or more second vehicle information,including at least a second vehicle speed, a second vehicle position,and a second vehicle direction; determining, by the one or more computerprocessors, whether a distance between the first vehicle and the secondvehicle is less than a threshold; responsive to determining that thedistance between the first vehicle and the second vehicle is less thanthe threshold, adding, by the one or more computer processors, the firstvehicle and the second vehicle to a convoy including a plurality ofconvoy vehicles approaching the intersection; determining, by the one ormore computer processors, a first convoy vehicle of the plurality ofconvoy vehicles, wherein the first convoy vehicle is a front vehicle ofthe plurality of convoy vehicles; calculating, by the one or moreprocessors, a projected arrival time at which each of the first convoyvehicle and the second convoy vehicle enters the intersection based onthe first vehicle information vector and the second vehicle informationvector; adding, by the one or more processors, a safety factor to theprojected arrival time and determining if the second convoy vehiclereaches the intersection after a projected exit time of the first convoyvehicle plus the safety factor; responsive to the second convoy vehiclereaching the intersection before the first convoy vehicle has left theintersection plus the safety factor, determining, by the one or moreprocessors, that a collision is possible and calculating a priority ofthe first convoy vehicle to cross the intersection and a priority of thesecond convoy vehicle to cross the intersection; responsive to thepriority of the first convoy vehicle being the same as the priority ofthe second convoy vehicle, calculating, by the one or more processors, afirst adjusted vehicle speed for the first convoy vehicle and a secondadjusted vehicle speed for the second convoy vehicle to avoid thecollision; calculating, by the one or more processors, a first combinedcost of energy consumption, carbon footprint, and traffic flow for thefirst adjusted vehicle speed and a second combined cost of energyconsumption, carbon footprint, and traffic flow for the second adjustedvehicle speed; and based on the first combined cost for the first convoyvehicle being larger than the second combined cost for the second convoyvehicle, displaying, by the one or more processors, a message on adashboard of the first convoy vehicle to prompt a first driver of thefirst convoy vehicle to change the first convoy vehicle speed to thefirst adjusted vehicle speed.
 17. The computer-implemented method ofclaim 16, wherein the first vehicle information vector from the firstvehicle and the second vehicle information vector from the secondvehicle further comprises at least one of: a vehicle identifier; avehicle priority; a vehicle route data, wherein the vehicle route dataincludes at least one of a route identifier, a route direction, andglobal positioning system coordinates of a route; a vehicle crossingdata, wherein the vehicle crossing data is zero if a vehicle is notapproaching the intersection; a vehicle crossing time interval, whereinthe vehicle crossing time interval further comprises a projected arrivaltime at the intersection associated with each vehicle, a projected exittime at the intersection associated with each vehicle, and the safetyfactor at the intersection; and a vehicle dynamic data, wherein thevehicle dynamic data further comprises at least one of a vehicle currentspeed, a vehicle lower possible speeds, a vehicle energy consumption,and a vehicle carbon footprint.
 18. The computer-implemented method ofclaim 16, wherein broadcasting the convoy information vector furthercomprises: retrieving, by the one or more computer processors, a thirdvehicle information vector for each convoy vehicle of the plurality ofconvoy vehicles; adding, by the one or more computer processors, thethird vehicle information vector for convoy vehicle of the plurality ofconvoy vehicles to the convoy information vector; adding, by the one ormore computer processors, the convoy information vector to a vehicleinformation vector of the first convoy vehicle; and broadcasting thevehicle information vector of the first convoy vehicle.
 19. Thecomputer-implemented method of claim 16, further comprising: responsiveto determining that the first vehicle is already a member of a firstexisting convoy, adding, by the one or more computer processors, thesecond vehicle to the first existing convoy; and responsive todetermining that the first vehicle is not the member of a first existingconvoy and that the second vehicle is a member of a second existingconvoy, adding, by the one or more computer processors, the firstvehicle to the second existing convoy.
 20. The computer-implementedmethod of claim 16, further comprising a maximum convoy size, whereinthe maximum convoy size is a system default.
 21. A computer-implementedmethod for collaborative accident prevention, the computer-implementedmethod comprising: determining, by one or more computer processors, afirst vehicle information vector associated with a first trajectory of afirst vehicle approaching an intersection, wherein the first vehicleinformation vector from the first vehicle contains one or more firstvehicle information, including at least a first vehicle speed, a firstvehicle position, and a first vehicle direction; determining, by the oneor more computer processors, a second vehicle information vectorassociated with a second trajectory of a second vehicle also approachingthe intersection, wherein the second vehicle information vector from thesecond vehicle contains one or more second vehicle information,including at least a second vehicle speed, a second vehicle position,and a second vehicle direction; calculating, by the one or moreprocessors, a projected arrival time at which each of the first vehicleand the second vehicle enters the intersection based on the firstvehicle information vector and the second vehicle information vector;adding, by the one or more processors, a safety factor to the projectedarrival time and determining if the second vehicle reaches theintersection after a projected exit time of the first vehicle plus thesafety factor; responsive to the second vehicle reaching theintersection before the first vehicle has left the intersection plus thesafety factor, determining, by the one or more processors, that acollision is possible and calculating a priority of the first vehicle tocross the intersection and a priority of the second vehicle to cross theintersection; responsive to the priority of the first vehicle beinghigher than the priority of the second vehicle, calculating, by the oneor more processors, a second adjusted vehicle speed for the secondvehicle to avoid the collision; and displaying, by the one or moreprocessors, a message on a dashboard of the second vehicle to prompt asecond driver of the second vehicle to change the second vehicle speedto the second adjusted vehicle speed.
 22. The computer-implementedmethod of claim 21, wherein displaying the message on the dashboard ofthe second vehicle to prompt the second driver further comprisessignaling, by the one or more computer processors, the second driver ofthe second vehicle when the second vehicle is a next vehicle to crossthe intersection.
 23. The computer-implemented method of claim 21,wherein the first vehicle information vector from the first vehicle andthe second vehicle information vector from the second vehicle furthercomprises at least one of: a vehicle identifier; a vehicle priority; avehicle route data, wherein the vehicle route data includes at least oneof a route identifier, a route direction, and global positioning systemcoordinates of a route; a vehicle crossing data, wherein the vehiclecrossing data is zero if a vehicle is not approaching the intersection;a vehicle crossing time interval, wherein the vehicle crossing timeinterval further comprises a projected arrival time at the intersectionassociated with each vehicle, a projected exit time at the intersectionassociated with each vehicle, and the safety factor at the intersection;and a vehicle dynamic data, wherein the vehicle dynamic data furthercomprises at least one of a vehicle current speed, a vehicle lowerpossible speeds, a vehicle energy consumption, and a vehicle carbonfootprint.
 24. The computer-implemented method of claim 23 furthercomprising: comparing, by the one or more computer processors, a vehiclepriority of the first vehicle to a vehicle priority of the secondvehicle to determine a lower priority vehicle and a higher priorityvehicle; and responsive to determining that the vehicle priority of thefirst vehicle is not equal to the vehicle priority of the secondvehicle, adjusting, by the one or more computer processors, a vehiclespeed of the lower priority vehicle to allow the higher priority vehicleto cross the intersection first.
 25. The computer-implemented method ofclaim 23 further comprising: calculating, by the one or more computerprocessors, from the vehicle dynamic data of the first vehicle and thesecond vehicle, a first combined vehicle efficiency, wherein the firstcombined vehicle efficiency is calculated based on the first vehiclecrossing the intersection first and a second combined vehicleefficiency, wherein the second combined vehicle efficiency is calculatedbased on the second vehicle crossing the intersection first; comparing,by the one or more computer processors, the first combined vehicleefficiency to the second combined vehicle efficiency to determine alower efficiency vehicle crossing sequence and a higher efficiencyvehicle crossing sequence; and responsive to determining the higherefficiency vehicle crossing sequence, adjusting, by the one or morecomputer processors, a vehicle speed of the vehicle crossing theintersection in second according to the higher efficiency vehiclecrossing sequence to allow an other vehicle to cross the intersectionfirst.